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//A¡¦¡¦¡¦Â­²ó¤ê  B¡¦¡¦¡¦¥¢¡¼¥à¾å²¼  C¡¦¡¦¡¦¥¢¡¼¥à
#define CONN 0
#define INBOX MAILBOX3
#define ang_up 340				//»ý¤Á¾å¤²ÍѳÑÅÙ
#define ang_put 80				//¥«¥óÃÖ¤¯³ÑÅÙ
#define ANGLE 50				//ÄϤàÍѳÑÅÙ
#define POWER 30				//ÀµÅ¾
#define POWER_LEGS 40			        //­²ó¤êÍÑ
#define POWER_RE -30			        //µÕž
  
sub go_f(int l){		//»ØÄêµ÷Î¥Á°¿Ê
	float Ang=l*2.0463;				//²óž³ÑÅÙ·×»»
	RotateMotor(OUT_A,POWER_LEGS,Ang);	        //Á°¿Ê
	Off(OUT_A);
}
 
sub hold(){					//¥«¥ó¤òÄϤà
	go_f(100);					//Á°¿Ê¤·¤Æ¥«¥ó¤Î°ÌÃÖ¤ò¹ç¤ï¤»¤ë
	RotateMotor(OUT_C,POWER_RE,ANGLE);	¡¡¡¡¡¡¡¡//¥«¥óÄϤà
}

sub stack(){					//¥«¥ó¤òÀѤà
	go_f(170);					//Á°¿Ê¤·¤Æ¥«¥ó¤Î°ÌÃÖ¤ò¹ç¤ï¤»¤ë
	go_f(-10);					//¥«¥ó¤«¤éÎ¥¤ì¤Æ°ÌÃÖÄ´À°
	RotateMotor(OUT_B,POWER_RE,ang_put);		//¥«¥ó¤òÃÖ¤¯(ÀѤà)
}

sub down_arm(){						//¥¢¡¼¥à¤ò²¼¤²¤ë
	OnFwd(OUT_B,POWER_RE);
	Wait(1100);						
	Off(OUT_B);
}

task main(){
	int msg=0;
	until(BluetoothStatus(CONN)==NO_ERR);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //bluetooth¤¬³ÎΩ¤¹¤ë¤Þ¤ÇÂÔµ¡
	go_f(-50);                                          //¥¢¡¼¥à¤ò²¼¤²¤ë¤¿¤á¤Î°ÌÃÖÄ´À°
	down_arm(); 			               	    //¥¢¡¼¥à¤ò²¼¤²¤Æ¥«¥ó¤òÄϤà½àÈ÷
	while(1){
		hold();				        //¥«¥óÄϤà
		OnFwd(OUT_C,POWER_RE);		  ¡¡¡¡¡¡//ÊÝ»ý¤·Â³¤±¤ë
		RotateMotor(OUT_B,50,ang_up);¡¡ ¡¡¡¡¡¡¡¡//»ý¤Á¾å¤²¤ë
		go_f(-150);			        //°ÌÃÖÄ´À°
		ReceiveRemoteNumber(MAILBOX3,true,msg);	//½¸¤á¤ë¦¤«¤é¤Î¿®¹æ¤¬Íè¤ë¤Þ¤ÇÂÔµ¡
		while(msg!=2){
			ReceiveRemoteNumber(MAILBOX3,true,msg);
			Wait(10);
		}
		stack();				//£²¤Î¿®¹æ¤¬Í褿¤éÀѤà
		Off(OUT_C);				//¥«¥ó¤òÊÝ»ý¤¹¤ëÎϤòÈ´¤¯
		RotateMotor(OUT_C,POWER,ANGLE);		//¥«¥óÎ¥¤¹
		go_f(-100);				//°ÌÃÖÄ´À°
		down_arm(); 				//¥¢¡¼¥à¤ò²¼¤²¤Æ¼¡¤Î½àÈ÷
	}
}

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Last-modified: 2017-08-14 (·î) 17:02:17